Servers by jDrones

Lidar Rangefinder for Pixhawk Cube


(Paul Bealing) #16

So I updated to latest and then tried wires both ways with address of both 85 and 102 and still nothing. I get the 163.63 and 122.88 ranges with the 85 address with wires both ways and nothing at all when I change the address in both APM and the Lidar to 102 (0x66).
I officially give up as am all out of ideas. Such a simple device and so many issues. I guess I will buy an LW20 as you have that working and will try that.
Thanks for your help


(Karu2003) #17

We are now developing up to two meters. https://github.com/ipmgroup/RangeFinder_9xVL53L0X_hardware


(ppoirier) #18

I suggest you upgrade to VL53L1 … you will get extended range :wink:


(Karu2003) #19

Thanks, in Europe they are not yet on sale. I ordered in the USA. We want to increase the number of sensors to 10 directly in Ardupilot. We want to expand the Ardupilot library for the IO expander and for the multiplexer.


(ppoirier) #20

That would be great
I suggest you start optimizing the scanning method so that the average “per sensor “ refresh rate is 10 hz or faster


(Karu2003) #21

We have i2c 1 MHz. :slight_smile: It will be later. :slight_smile: Now we need to decide with Ardupilot Team how to add IO and multiplexer. So far, we’ve done a complete refactoring of the RangeFinder parameters. 64 parameters on all the boards are few. now Ardupilot support already 21 sensor. We have not added one yet. https://github.com/ArduPilot/ardupilot/pull/8816


(ppoirier) #22

Problem is with sensor distance reading time, it is more than 20 msec so if you go sequentially its less than 5 hz for a 10 sensor unit , making avoidance a little marginal


(Karu2003) #23

20 msec is an unavoidable evil. :slight_smile: The rest is solved by tackles and readiness. The conveyor works. :slight_smile: Ardupilot will not wait.


(moonmotor) #24

I had to upgrade to the Beta version of ArduCopter for my liar to work


(ptegler) #25

…bben using the Leddar one units with GREAT success…good for about 40m outdoors


…have a 3D printed case… rock solid altitude hold even crossing various terrain media

ptegler


(Keith) #26

Choppedxs,

I have been trying to get that LIDAR unit to work on the 2.1 since it was released. Like you I have never been able to get it to work, either I2C or Serial. I have bitten the bullet and ordered the LW20/C, hoping it will work, and work well with the IR lock system.

Cheers


(Paul Bealing) #27

Thanks for that note dellphs. Its nice to know its not just me. Hopefully you can let me know how you get on with the new one. I will also check out the Leddarone although I may need better range then 40m. Thanks ptegler.


(Keith) #28

Paul,

I received and installed my new LW20/C. At first I was having the same problem. I went with a serial connection in Telemetry 2 on my Pixhawk 2.1 because I am using the I2C for the IR Lock camera. After fiddling with the setting for several hours I had an Epiphany…The Telem 2 port doesn’t support 11520, which the LW20 is factory set to. So I swapped from Telem 2 to Telem 1 and voila, everything started talking the way it should. I have to wait til next weekend to test fly it, hoping the precision loiter and land work well. Don’t know if this will help your issue, but I thought I would pass the info along.
Cheers!


(Paul Bealing) #29

Thanks for that info. I am trying to get response from lightware as to why their SF10C is not working with pixhawk and if it goes nowhere I will purchase LW20. Good to know it works.


(Josua Blom) #30

Hi @dellphs and @choppedxs,

I also have a LW20/C on I2C with the Pixhawk 2.1 cube. I’m having the EXACT same problems as Paul had, where I get absolutely nothing on address 102, but on address 85 I get the constant 163 m and 122 m readings.

Have either of you managed to sort it out? It’s connected on my I2C2 bus, in parallel with my MS5525 airspeed sensor (I have tried with the airspeed sensor disconnected, but same problem).

Any help or direction would be appreciated. Thanks!


(Josua Blom) #31

Update:

I have managed to get the LW20/C working, but only on the GPS1 port’s I2C bus (the “external” bus, as specified in the PH 2.1 manual). Why would it work on I2C 1, but not I2C 2?


(Paul Bealing) #32

I ended up giving up and plugging the rangefinder into a on board computer and logging it there as was not using it for flight. I wonder if it only worked on the first port as that has more power then second. I know if u have rfd900 they say to plug into port 1 not 2 due to power issues. Good to know it works though.


(Josua Blom) #33

That is interesting, it’s very possible that it’s the power supply of port 2 that’s insufficient (I already have two I2C airspeed sensors on I2C 2). I did test the current consumption of the LiDAR on port 2, and it was a mere 0.1 mA, which is not even close to what the spec sheet says. I just assumed it was idle and therefore not consuming power.

@tridge is it possible that the power supply of I2C 2 is not sufficient for a LW20 unit in parallel with other sensors? If so, please consider suggesting the use of I2C 1 in the plane docs (I had to hack into the GPS connector to access it on PH 2.1 though):

http://ardupilot.org/plane/docs/common-lightware-lw20-lidar.html

Thanks for all the good work!


(Keith) #34

I could never get both a flow (IR) camera and LIDAR to work using I2C, that’s why I ended up going with the serial connection for the LIDAR. Power could be an issue, but you would have to measure the draw while under load to really know for sure. I had previously used the I2C splitter and pumped power into it that I know was up to the task (tethered power with an available capacity of 80 Amps), yet still couldn’t get to work.


(Josua Blom) #35

That is interesting. I have experienced a different issue with the Benekewe TF02 LiDAR over serial, some real black magic $hit, maybe you can give a fresh perspective on it: